Variable-diameter mobile platform chassis characteristics analysis

Xiaojiang, Yao; Xu, Guoyan; Gaofeng,; Cui, Ying

doi:10.1109/icae.2011.5943776

Cited by 3 publications

(2 citation statements)

References 5 publications

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“…Other designs have been introduced using rigid-body articulated mechanisms. The ratios are, in these cases, equal to 2 in [6], 1.5 in [7] and 1.3 in [8]. The well-known deployability of origami patterns is clearly an advantage to create wheels with large diameter variations.…”

Section: Introductionmentioning

confidence: 95%

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Origami-Inspired Design of a Deployable Wheel

Berre

Geiskopf

Rubbert

et al. 2020

Mechanisms and Machine Science

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In this paper, we introduce the design of a variable-diameter wheel for mobile robots. The goal is to improve maneuverability and crossing capacity of such robots by actively controlling the diameter of wheels. Origami patterns have been recently considered in robotics for the design of compliant and deployable structures. In our context, compliance can limit the load capacity of mobile robots. We then propose an origami-inspired design to benefit at the same time from the high deployability of origami patterns and the stiffness of articulated mechanisms. The proposed deployable wheel is based on a flasher structure. Kinematic architecture is determined to allow the transition from a flat configuration to a folded configuration for maximum deployability. The original arrangement of kinematic joints to get the flasher motions with a rigid-body mechanism is presented. In addition, an actuation mechanism is designed to control the wheel radius using a single actuator. Finally, design of peripheral shape is discussed to maintain proper rolling capacity. The implementation of the prototype is then presented with validation of kinematics properties.

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Section: Introductionmentioning

confidence: 95%

“…One configuration is dedicated to stair crossing, another one to rolling. In [1,7,8] or [9] the shape of wheels is chosen to favor obstacle crossing. It is then not possible to improve rolling efficiency without modifying the deployable mechanism.…”

Section: Introductionmentioning

confidence: 99%